Work machine monitoring system and work machine monitoring method

Abstract

A monitoring system of a work machine includes: a measurement data acquisition unit mounted on the work machine and configured to acquire measurement data of a measurement device that measures a target; a vehicle body data acquisition unit configured to acquire vehicle body data indicating a state of the work machine; a state determination unit configured to determine the state of the work machine based on the vehicle body data; a processing unit configured to process the measurement data and recognize the target; and a contamination determination unit configured to determine presence or absence of contamination of a reception surface of the measurement device based on the state of the work machine determined by the state determination unit and a recognition result of the target by the processing unit.

1 . A monitoring system of a work machine comprising:
 a measurement data acquisition unit mounted on the work machine and configured to acquire measurement data of a measurement device that measures a target;   a vehicle body data acquisition unit configured to acquire vehicle body data indicating a state of the work machine;   a state determination unit configured to determine the state of the work machine based on the vehicle body data;   a processing unit configured to process the measurement data and recognize the target; and   a contamination determination unit configured to determine presence or absence of contamination of a reception surface of the measurement device based on the state of the work machine determined by the state determination unit and a recognition result of the target by the processing unit.   
     
     
         2 . The monitoring system of the work machine according to  claim 1 ,
 wherein the work machine includes working equipment, and   wherein a target to be measured by the measurement device includes the working equipment.   
     
     
         3 . The monitoring system of the work machine according to  claim 2 ,
 wherein the vehicle body data includes attitude data indicating an attitude of the working equipment,   wherein, when the state determination unit determines that the working equipment is disposed in a measurement range of the measurement device based on the attitude data and the processing unit recognizes the working equipment, the contamination determination unit determines that the measurement device is not contaminated, and   wherein, when the state determination unit determines that the working equipment is disposed in the measurement range of the measurement device based on the attitude data and the processing unit does not recognize the working equipment, the contamination determination unit determines that the measurement device is contaminated.   
     
     
         4 . The monitoring system of the work machine according to  claim 2 ,
 wherein the processing unit processes measurement data of the measurement device to determine presence or absence of a defect of the working equipment.   
     
     
         5 . The monitoring system of the work machine according to  claim 1 ,
 wherein the measurement device includes an imaging device, and   wherein a reception surface of the measurement device includes an incidence surface of an optical system of the imaging device.   
     
     
         6 . The monitoring system of the work machine according to  claim 1 , comprising:
 an output unit configured to cause an output device to output a determination result of the presence or absence of contamination determined by the contamination determination unit.   
     
     
         7 . A monitoring method for a work machine comprising:
 acquiring measurement data of a measurement device that is mounted on a work machine and measures a target;   acquiring vehicle body data indicating a state of the work machine;   determining the state of the work machine based on the vehicle body data;   processing the measurement data and recognizing the target; and   determining presence or absence of contamination of a reception surface of the measurement device based on the determined state of the work machine and a recognition result of the target.